# A Model-Based Method for Predicting the Shapes of Planar Single-Segment Continuum Manipulators With Consideration of Friction and External Force

> Research article (Journal of Mechanisms and Robotics, 2020) · cited 10× · AI/ML

**Wikidata**: [openalex:W2999549815](https://www.wikidata.org/wiki/openalex:W2999549815)  
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